剪切-收集一体式茶叶采摘末端执行器设计与试验  

Design and Testing of a Cutting-collecting Integrated End-effector for Tea Picking

作　　者：林桂潮 陈定贤 陈嘉辉 钟凯勇 蔡柳坚 林帆 郑晓鑫 李汪珩 Lin Guichao;Chen Dingxian;Chen Jiahui;Zhong Kaiyong;Cai Liujian;Lin Fan;Zheng Xiaoxin;Li Wangheng(College of Mechanical and Electrical Engineering,Zhongkai University of Agricultural and Engineering,Guangzhou 510225,China)

机构地区：[1]仲恺农业工程学院机电工程学院,广州510225

出　　处：《机电工程技术》2023年第9期42-45,172,共5页Mechanical & Electrical Engineering Technology

基　　金：国家自然科学基金资助项目(32101632);梅州市科技计划项目(211213104831204);广东省科技创新战略专项资金项目(pdjh2023a0257);大学生创新创业训练计划项目(S202211347049)。

摘　　要：为了使茶叶采摘机器人能高效连贯地采摘嫩芽,末端执行器应同时具有剪切和收集功能。为此,设计一种剪切—收集一体式采摘末端执行器。以英红九号为对象,测定茶嫩芽外形尺寸和茎秆剪切力学特性;设计一种新型的单自由度平面连杆机构对茶嫩芽进行剪切和抛扬,收集和收纳被扬出的茶嫩芽;对平面连杆机构进行静力学分析,结果表明所产生的剪切力大于剪断茶嫩芽茎秆所需的最大剪切力。仿真实验结果表明:当舵机角速度为310(°)/s时,末端执行器作业时间约为1 s,效率较高,但存在一定动载荷。田间实验表明:末端执行器对茶嫩芽的平均采摘成功率为75%,平均采摘时间为1.5 s。该末端执行器结构简单,具有剪切和收集功能,能够满足茶叶采摘机器人作业需求。The end-effector should be capable of both cutting and collecting tasks so that the tea picking robot may harvest buds in an organized and effective manner.To the effect,a tea picking end-effector with cutting and collecting capabilities is designed in the study.Using Yinghong No.9 as the object,the size and shear mechanical characteristics of the tea bud are measured.The tea buds are chopped and thrown back using an inventively created one degree of freedom planar linking mechanism,and then are collected using a collection box.The planar linking mechanism is then subjected to a static analysis,and the results demonstrate that the cutting force generated by the end-effector is higher than the maximum cutting force needed for cutting tea buds.The simulation results show that when the angular speed of the steering gear is 310(°)/s,the operation time of the end effector is about 1 s,which is high efficiency,but there is a certain dynamic load.Field experiments shows that the average success rate of picking tea buds by end-effector is 75%,and the average picking time is 1.5 s.The end-effector is simple in structure and has the functions of cutting and collecting,which can meet the requirements of tea picking robot operation.

关 键 词：茶叶采摘机器人 末端执行器 平面连杆机构 

分 类 号：TH122[机械工程—机械设计及理论]